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Sonar-based wall-following control of mobile robots

Author(s):

A. Bemporad, M. Di Marco, A. Tesi
Conference/Journal:

ASME J. Dynamic Systems, Measurement & Control, vol. 122, pp. 226-230
Abstract:

For mobile robots equipped with incremental encoders and one sonar sensor this paper presents wall-following controllers that achieve global convergence, as well as the fulfillment of constraints on the orientation of the sonar and the velocities of the wheels. A sensor-fusion approach for the estimation of the robot's coordinates is adopted by designing an Extended Kalman Filter that combines ultrasonic and odometric data.

Further Information
Year:

2000
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { BemMar:2000:IFA_58,
    author={A. Bemporad and M. Di Marco and A. Tesi},
    title={{Sonar-based wall-following control of mobile robots}},
    journal={ASME J. Dynamic Systems, Measurement \& Control},
    year={2000},
    volume={122},
    number={},
    pages={226--230},
    month=mar,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=58}
}
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